/** --------------------------------------------------------------------------- * \file EcDemoParms.h * \brief Application specific settings for EC demo * \author Holger Oelhaf * \copyright acontis technologies GmbH, Weingarten, Germany *---------------------------------------------------------------------------*/ #ifndef INC_ECDEMOPARMS_H #define INC_ECDEMOPARMS_H 1 /*-DEFINES-------------------------------------------------------------------*/ #if (!defined INCLUDE_EC_LOGGING) && (!defined EXCLUDE_EC_LOGGING) #define INCLUDE_EC_LOGGING #endif /*-INCLUDES------------------------------------------------------------------*/ #include /*-FORWARD DECLARATIONS------------------------------------------------------*/ struct _EC_T_FMU; /*-DEFINES-------------------------------------------------------------------*/ #define DEFAULT_BUS_CYCLE_TIME_NSEC 1000000 #define DEFAULT_DEMO_DURATION 600000 #if (defined EC_DEMO_TINY) #ifndef MASTER_CFG_ECAT_MAX_BUS_SLAVES #define MASTER_CFG_ECAT_MAX_BUS_SLAVES 8 /* max number of pre-allocated bus slave objects */ #endif #define MASTER_CFG_MAX_ACYC_FRAMES_QUEUED 6 /* max number of acyc frames queued, 127 = the absolute maximum number */ #define MASTER_CFG_MAX_ACYC_BYTES_PER_CYC 512 /* max number of bytes sent during eUsrJob_SendAcycFrames within one cycle */ #else #ifndef MASTER_CFG_ECAT_MAX_BUS_SLAVES #define MASTER_CFG_ECAT_MAX_BUS_SLAVES 256 /* max number of pre-allocated bus slave objects */ #endif #define MASTER_CFG_MAX_ACYC_FRAMES_QUEUED 32 /* max number of acyc frames queued, 127 = the absolute maximum number */ #define MASTER_CFG_MAX_ACYC_BYTES_PER_CYC 4096 /* max number of bytes sent during eUsrJob_SendAcycFrames within one cycle */ #endif /* EC_DEMO_TINY */ #define MASTER_CFG_MAX_ACYC_CMD_RETRIES 3 #define ETHERCAT_STATE_CHANGE_TIMEOUT 15000 /* master state change timeout in ms */ #define ETHERCAT_SCANBUS_TIMEOUT 10000 /* scanbus timeout in ms, see also EC_SB_DEFAULTTIMEOUT */ #if (defined EC_DEMO_TINY) #define COMMAND_LINE_BUFFER_LENGTH 128 #define MAX_LINKLAYER 2 #else #define COMMAND_LINE_BUFFER_LENGTH 512 #define MAX_LINKLAYER 5 #endif #define DEMO_MAX_NUM_OF_AXIS 6 /* max number of axis that can be used in DS402 demos */ #define DEMO_MAX_NUM_OF_CAM_TABLES 1 /* max number of CAM tables */ /* Motion */ #define DEMO_CFG_DEFAULT_FILENAME "DemoConfig.xml" /*-TYPEDEFS------------------------------------------------------------------*/ /********************************************************************************/ /** \brief The policy to become ACTIVE determines under which circumstances the Master may switch to ACTIVE. * Depending on the policy in effect, the INACTIVE Master may evaluate whether network operation by another ACTIVE Master is currently or was previously detected. * This specific redundancy logic must be managed at the application level. */ typedef enum _T_eBecomeActivePolicy { eBecomeActivePolicy_Unknown = 0, /**< Unknown policy */ eBecomeActivePolicy_Autonomous = 1, /**< Become ACTIVE if network not operated by another Master */ eBecomeActivePolicy_Gated = 2, /**< Become ACTIVE after network operation by another Master was detected, and other Master network operation stopped */ eBecomeActivePolicy_Forced = 3, /**< Become ACTIVE immediately */ eBecomeActivePolicy_Suspended = 4, /**< Never become ACTIVE */ /* Borland C++ datatype alignment correction */ eBecomeActivePolicy_BCppDummy = 0xFFFFFFFF } T_eBecomeActivePolicy; /* demo application parameters */ typedef struct _T_EC_DEMO_APP_PARMS { EC_T_OS_PARMS Os; /* operating system parameters */ EC_T_DWORD dwCpuIndex; /* CPU index */ EC_T_CPUSET CpuSet; /* CPU-set for SMP systems */ EC_T_DWORD dwJobsThreadPrio; /* JobTask priority (default: JOBS_THREAD_PRIO) */ EC_T_DWORD dwJobsThreadStackSize; /* JobTask stack size (default: JOBS_THREAD_STACKSIZE) */ /* link layer */ EC_T_LINK_PARMS* apLinkParms[MAX_LINKLAYER]; /* link layer parameters array */ EC_T_DWORD dwNumLinkLayer; /* link layer count in apLinkParms */ /* configuration */ EC_T_CNF_TYPE eCnfType; /* configuration data type */ EC_T_BYTE* pbyCnfData; /* configuration data filename / buffer */ EC_T_DWORD dwCnfDataLen; /* configuration data length in bytes */ EC_T_CHAR szENIFilename[256]; /* ENI filename string */ EC_T_CHAR szLicenseKey[64]; /* license key string */ EC_T_UINT64 qwOemKey; /* OEM key */ EC_T_DWORD dwMaxBusSlaves; /* max number of slaves (MASTER_CFG_ECAT_MAX_BUS_SLAVES) */ /* timing */ EC_T_DWORD dwBusCycleTimeNsec; /* bus cycle time [ns] */ EC_T_DWORD dwDemoDuration; /* demo duration [ms] */ /* logging */ EC_T_INT nVerbose; /* verbosity level */ EC_T_DWORD dwAppLogLevel; /* demo application log level (derived from verbosity level) */ EC_T_DWORD dwMasterLogLevel; /* Master / Monitor / Simulator stack log level (derived from verbosity level) */ EC_T_CHAR szLogFileprefix[64]; /* log file prefix string */ EC_T_DWORD dwLogBufferMaxMsgCnt; /* max number of buffered messages (DEFAULT_LOG_MSG_BUFFER_SIZE) */ EC_T_BOOL bPcapRecorder; /* EtherCAT packet capture in pcap format (wireshark) enabled */ EC_T_CHAR szPcapRecorderFileprefix[64]; /* log file prefix string */ EC_T_DWORD dwPcapRecorderBufferFrameCnt; /* max number of buffered frames */ /* RAS */ EC_T_BOOL bStartRasServer; EC_T_BYTE abyRasServerIpAddress[4]; /* Remote Access Server (RAS) listen IP address */ EC_T_WORD wRasServerPort; /* Remote Access Server (RAS) listen port */ EC_T_BYTE abyRasClientIpAddress[4]; /* Remote Access Server (RAS) connect IP address */ EC_T_WORD wRasClientPort; /* Remote Access Server (RAS) connect port */ EC_T_BOOL bRasAccessControlEnabled; /* Remote Access Server (RAS) access control enabled */ EC_T_DWORD dwRasAccessLevel; /* Remote Access Server (RAS) access control level */ /* mailbox gateway server */ EC_T_WORD wMbxGatewayServerPort; /* Mailbox Gateway server port */ /* DCM */ EC_T_BOOL bDcmConfigure; /* DCM configuration enabled */ EC_T_DCM_MODE eDcmMode; /* DCM mode */ EC_T_BOOL bDcmSyncToCycleStart; /* DCM sync to cycle start */ EC_T_BOOL bDcmControlLoopDisabled; /* DCM control loop disabled */ EC_T_BOOL bDcmLogEnabled; /* DCM logging enabled */ EC_T_INT nCtlSetValNsec; /* DCM distance between cyclic frame send time and DC base on bus */ /* master redundancy */ T_eBecomeActivePolicy eBecomeActivePolicy; /* Master redundancy policy to become active */ EC_T_BOOL bMasterRedSwitchTopology; /* Master redundancy switch topology */ /* additional parameters for the different demos. TODO: reword */ EC_T_DWORD dwMasterInstanceId; /* Master instance id */ EC_T_DWORD dwPerfMeasLevel; /* performance measurement level */ EC_T_BOOL bPerfMeasShowCyclic; /* show performance values cyclically */ EC_T_WORD bFlash; /* flashing process data (Master: OUTPUTs / Simulator: INPUTs) */ EC_T_WORD wFlashSlaveAddr; /* flashing process data (Master: OUTPUTs / Simulator: INPUTs) slave station address */ struct { EC_T_DWORD dwOffset; /* process data bit offset */ EC_T_DWORD dwSize; /* process data bit size */ EC_T_DWORD dwValue; /* process data to set */ EC_T_DWORD dwDuration; /* duration of how long process data should be set [ms]. 0 == forever */ } SetProcessDataBits; /* process data access helper struct */ EC_T_DWORD dwNotifyCode; /* notification code for ecatNotifyApp */ EC_T_NOTIFYPARMS NotifyParms; /* notification parameter for ecatNotifyApp */ /* EC-Daq */ EC_T_BOOL bDaqRecorder; /* DAQ recorder config file enabled */ EC_T_CHAR szDaqRecorder[256]; /* DAQ recorder config filename string */ /* EC-Simulator */ EC_T_DWORD dwSimulatorInstanceId; /* simulator instance id */ EC_T_BOOL bDisableProcessDataImage; /* don't allocate Process Data Image at EC-Simulator (Master ENI / Simulator ENI mismatch support) */ EC_T_BOOL bConnectHcGroups; /* auto-connect floating Hot Connect groups / disconnect all Hot Connect groups */ EC_T_DWORD dwCfgDeviceConnectionCount; EC_T_SIMULATOR_DEVICE_CONNECTION_DESC aoDeviceConnection[MAX_LINKLAYER]; /* see EC_SIMULATOR_DEVICE_CONNECTION_TYPE_... */ /* DS402 */ EC_T_DWORD dwDS402NumSlaves; /* DS402 simulated slaves count */ EC_T_WORD awDS402SlaveAddr[DEMO_MAX_NUM_OF_AXIS]; /* station fixed adresses of DS402 simulated slaves */ /* EC-FMU */ EC_T_CHAR szFmuLogfile[256]; /* FMU log file */ EC_T_CHAR szFmuFilename[256]; /* FMU file to be loaded */ EC_T_CHAR szCsvMappingFilename[256]; /* FMU variables to PDO variables mapping (CSV) */ /* EAP */ EC_T_BYTE abyIpAddress[4]; /* IP address */ /* EC-Monitor */ EC_T_BOOL bPcapProcessing; /* packet capture file processing enabled */ EC_T_CHAR szPcapFilename[256]; /* packet capture file name */ EC_T_CHAR szEBIFilename[256]; /* EBI export filename string */ /* Motion */ EC_T_CHAR szCfgFilePath[256]; EC_T_BOOL bCmdMode; /* Command Mode: Get commands from EC-STA */ /* MQTT */ EC_T_CHAR szMqttServerUri[256]; EC_T_DWORD dwMqttChgUpdateTime; /* MQTT publish change detection minimum time */ EC_T_DWORD dwMqttCycUpdateTime; /* MQTT publish cyclic time */ /* read CoE object dictionary from device */ EC_T_BOOL bReadOD; EC_T_WORD wReadODSlaveAddr; /* print process variable name and offset for all variables of all slaves */ EC_T_BOOL bPrintVars; /* EoE */ EC_T_CHAR szEoeTap[32]; EC_T_JUNCTION_REDUNDANCY_MODE eJunctionRedMode; /* Fingerprint */ EC_T_BOOL bUseFingerprint; EC_T_BYTE byFingerprintMethod; /* Frame mirror */ EC_T_LINK_PARMS* pLinkParmsMirror; /* Frame mirror link layer */ /* TLS */ EC_T_CHAR szTlsCert[256]; /* TLS certificate filename string */ EC_T_CHAR szTlsPrivKey[256]; /* TLS private key filename string */ } T_EC_DEMO_APP_PARMS; /* demo application context */ typedef struct _T_EC_DEMO_APP_CONTEXT { T_EC_DEMO_APP_PARMS AppParms; /* demo application parameters */ EC_T_LOG_PARMS LogParms; /* log parameters */ EC_T_DWORD dwInstanceId; /* instance id */ EC_T_VOID* pvJobTaskEvent; /* job task event */ EC_T_BOOL bJobTaskRunning; /* job task running flag */ EC_T_BOOL bJobTaskShutdown; /* job task shutdown request flag */ #if (defined __cplusplus) class CEmNotification* pNotificationHandler; /* notification handler */ #else struct _T_CEmNotification* pNotificationHandler; /* notification handler */ #endif EC_T_VOID* pvCycFrameReceivedEvent; /* cyclic frame received event */ EC_T_DWORD dwPerfMeasLevel; /* performance measurement level */ EC_T_VOID* pvPerfMeas; /* performance measurement object */ struct _T_MY_APP_DESC* pMyAppDesc; /* my app descriptor */ struct _T_MASTER_RED_DEMO_PARMS* pMasterRedParms; /* Master redundancy parameters */ struct _T_EC_MONITOR_DEMO_PARMS* pMonitorParms; /* EC-Monitor parameters */ EC_T_VOID* pTimingTaskContext; /* Timing Task Context for various Busshift, Mastershift, MasterRefClock and DCX.Mastershift mode */ #if (defined __cplusplus) class CPcapRecorder* pPcapRecorder; /* Pcap recorder instance */ class CFrameMirror* pFrameMirror; /* Frame mirror instance */ #endif struct _EC_T_FMU* pFmu; } T_EC_DEMO_APP_CONTEXT; /*-GLOBAL VARIABLES-----------------------------------------------------------*/ extern volatile EC_T_BOOL bRun; /* global demo run flag */ /*-FORWARD DECLARATIONS------------------------------------------------------*/ struct _T_EC_DEMO_APP_CONTEXT; /*-FUNCTION DECLARATION------------------------------------------------------*/ EC_T_DWORD PrepareCommandLine(EC_T_INT nArgc, EC_T_VOID* ppArgv, EC_T_CHAR* szCommandLine); EC_T_VOID ResetAppParms(T_EC_DEMO_APP_CONTEXT* pAppContext, T_EC_DEMO_APP_PARMS* pAppParms); EC_T_VOID FreeAppParms(T_EC_DEMO_APP_CONTEXT* pAppContext, T_EC_DEMO_APP_PARMS* pAppParms); EC_T_VOID SetLogLevels(T_EC_DEMO_APP_PARMS* pAppParms); #ifdef __cplusplus EC_T_DWORD SetAppParmsFromCommandLine(struct _T_EC_DEMO_APP_CONTEXT* pAppContext, const EC_T_CHAR* szCommandLine, T_EC_DEMO_APP_PARMS* pAppParms, EC_T_CHAR** pszNextCommandLine = EC_NULL); #else EC_T_DWORD SetAppParmsFromCommandLine(struct _T_EC_DEMO_APP_CONTEXT* pAppContext, const EC_T_CHAR* szCommandLine, T_EC_DEMO_APP_PARMS* pAppParms, EC_T_CHAR** pszNextCommandLine); #endif EC_T_VOID SetAppParmsLogging(T_EC_DEMO_APP_CONTEXT* pAppContext, T_EC_DEMO_APP_PARMS* pAppParms); EC_T_VOID ShowSyntaxAppUsage(T_EC_DEMO_APP_CONTEXT* pAppContext); EC_T_VOID ShowSyntaxCommon(T_EC_DEMO_APP_CONTEXT* pAppContext); EC_T_VOID ShowSyntaxApp(T_EC_DEMO_APP_CONTEXT* pAppContext); EC_T_VOID ShowSyntaxLinkLayer(); static EC_INLINESTART EC_T_VOID ShowSyntax(T_EC_DEMO_APP_CONTEXT* pAppContext) { ShowSyntaxAppUsage(pAppContext); ShowSyntaxCommon(pAppContext); ShowSyntaxApp(pAppContext); #if (!defined EC_RAS_CLIENT_DEMO) ShowSyntaxLinkLayer(); #endif #if (EC_OS == EC_OS_XENOMAI) EcLogMsg(EC_LOG_LEVEL_ERROR, (pEcLogContext, EC_LOG_LEVEL_ERROR, "For Xenomai versions older than 3.0.6 please try @@ instead of -- in the command line \n")); EcLogMsg(EC_LOG_LEVEL_ERROR, (pEcLogContext, EC_LOG_LEVEL_ERROR, "This is a well-known Xenomai3 bug \n")); #endif } EC_INLINESTOP /*****************************************************************************/ /** * \brief convert a string to an unsigned long long * * \return unsigned long long */ static EC_INLINESTART EC_T_UINT64 EcStrtoull(const EC_T_CHAR* szNptr, EC_T_CHAR** pszEndptr, EC_T_INT nBase) { const EC_T_CHAR* szLocalString = EC_NULL; EC_T_INT64 nAcc = 0; EC_T_INT64 nCutoff = 0; EC_T_INT64 nCutlim = 0; EC_T_INT nCharacter = 0; EC_T_INT nNeg = 0; EC_T_INT nAny = 0; /* see strtoq for comments to logic below */ szLocalString = szNptr; do { nCharacter = (EC_T_BYTE)*szLocalString++; } while (' ' == nCharacter); if (nCharacter == '-') { nNeg = 1; nCharacter = *szLocalString++; } else { nNeg = 0; if (nCharacter == '+') { nCharacter = *szLocalString++; } } if (((nBase == 0) || (nBase == 16)) && (nCharacter == '0') && ((*szLocalString == 'x') || (*szLocalString == 'X'))) { nCharacter = szLocalString[1]; szLocalString += 2; nBase = 16; } if (nBase == 0) { nBase = ((nCharacter == '0') ? 8 : 10); } /* BIONIC: avoid division and modulo for common cases */ #define CASE_BASE(x) \ case x: nCutoff = ((EC_T_UINT64)-1) / x; \ nCutlim = ((EC_T_UINT64)-1) % x; \ break switch (nBase) { CASE_BASE(8); CASE_BASE(10); CASE_BASE(16); default: nCutoff = ((EC_T_UINT64)-1) / nBase; nCutlim = ((EC_T_UINT64)-1) % nBase; } #undef CASE_BASE for (nAcc = 0, nAny = 0;; nCharacter = (EC_T_BYTE)*szLocalString++) { if ((nCharacter >= '0') && (nCharacter <= '9')) { nCharacter = nCharacter - '0'; } else if ((nCharacter >= 'a') && (nCharacter <= 'f')) { nCharacter = nCharacter - 'a' + 10; } else if ((nCharacter >= 'A') && (nCharacter <= 'F')) { nCharacter = nCharacter - 'A' + 10; } else { break; } if (nCharacter >= nBase) { break; } if (nAny < 0) { continue; } if ((nAcc > nCutoff) || ((nAcc == nCutoff) && (nCharacter > nCutlim))) { nAny = -1; nAcc = -1; } else { nAny = 1; nAcc *= (EC_T_UINT64)nBase; nAcc += nCharacter; } } if (nNeg && (nAny > 0)) { nAcc = -nAcc; } if (pszEndptr != 0) { *pszEndptr = (EC_T_CHAR*)(nAny ? szLocalString - 1 : szNptr); } return nAcc; } EC_INLINESTOP static EC_INLINESTART EC_T_BOOL IsLinkLayerTimingSet(EC_T_LINK_PARMS** pLinkParms) { EC_T_BOOL bIsSet = EC_FALSE; EC_T_WORD i = 0; for (i = 0; i < MAX_LINKLAYER; i++) { if ((EC_NULL != pLinkParms) && (EC_NULL != pLinkParms[i]) && (eLinkLayerTiming_Undefined != pLinkParms[i]->oLinkLayerTimingTask.eLinkLayerTiming)) { bIsSet = EC_TRUE; } } return bIsSet; } EC_INLINESTOP #endif /* INC_ECDEMOPARMS_H */ /*-END OF SOURCE FILE--------------------------------------------------------*/